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            <small>
              <a href="#Procedure">Procedure<br></a>
              <a href="#Abstract">Abstract<br></a>
              <a href="#Required_Reading">Required_Reading<br></a>
              <a href="#Keywords">Keywords<br></a>
              <a href="#Brief_I/O">Brief_I/O<br></a>
              <a href="#Detailed_Input">Detailed_Input<br></a>

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              <small>               <a href="#Detailed_Output">Detailed_Output<br></a>
              <a href="#Parameters">Parameters<br></a>
              <a href="#Exceptions">Exceptions<br></a>
              <a href="#Files">Files<br></a>
              <a href="#Particulars">Particulars<br></a>
              <a href="#Examples">Examples<br></a>

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              <small>               <a href="#Restrictions">Restrictions<br></a>
              <a href="#Literature_References">Literature_References<br></a>
              <a href="#Author_and_Institution">Author_and_Institution<br></a>
              <a href="#Version">Version<br></a>
              <a href="#Index_Entries">Index_Entries<br></a>
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<h4><a name="Procedure">Procedure</a></h4>
<PRE>
   void mtxm_c ( ConstSpiceDouble    m1  [3][3],
                 ConstSpiceDouble    m2  [3][3],
                 SpiceDouble         mout[3][3] )

</PRE>
<h4><a name="Abstract">Abstract</a></h4>
<PRE>
   Multiply the transpose of a 3x3 matrix and a 3x3 matrix.
</PRE>
<h4><a name="Required_Reading">Required_Reading</a></h4>
<PRE>
   None.
</PRE>
<h4><a name="Keywords">Keywords</a></h4>
<PRE>
   MATRIX


</PRE>
<h4><a name="Brief_I/O">Brief_I/O</a></h4>
<PRE>
   VARIABLE  I/O  DESCRIPTION
   --------  ---  --------------------------------------------------
   m1         I   3x3 double precision matrix.
   m2         I   3x3 double precision matrix.
   mout       O   The produce m1 transpose times m2.
</PRE>
<h4><a name="Detailed_Input">Detailed_Input</a></h4>
<PRE>
   m1         is any 3x3 double precision matrix. Typically,
              m1 will be a rotation matrix since then its
              transpose is its inverse (but this is not a
              requirement).

   m2         is any 3x3 double precision matrix.
</PRE>
<h4><a name="Detailed_Output">Detailed_Output</a></h4>
<PRE>
   mout       is a 3x3 double precision matrix. mout is the
              product

                          t
                 mout = m1  m2

              mout may overwrite either m1 or m2.
</PRE>
<h4><a name="Parameters">Parameters</a></h4>
<PRE>
   None.
</PRE>
<h4><a name="Exceptions">Exceptions</a></h4>
<PRE>
   Error free.
</PRE>
<h4><a name="Files">Files</a></h4>
<PRE>
   None
</PRE>
<h4><a name="Particulars">Particulars</a></h4>
<PRE>
   The code reflects precisely the following mathematical expression

   For each value of the subscripts i and j from 0 to 2:

                     2
                    __
                    \
      mout[i][j] =  /_  m1[k][i] * m2[k][j]
                    k=0

   Note that the reversal of the k and i subscripts in the left-hand
   matrix m1 is what makes mout the product of the TRANSPOSE of M1
   and not simply of m1 itself.  Also, the intermediate results of
   the operation above are buffered in a temporary matrix which is
   later moved to the output matrix.  Thus mout can be actually be
   m1 or m2 if desired without interfering with the computations.
</PRE>
<h4><a name="Examples">Examples</a></h4>
<PRE>
   Let m1 = | 1.  2.  3. |
            |            |
            | 4.  5.  6. |
            |            |
            | 7.  8.  9. |


       m2 = |  1.   1.  0. |
            |              |
            | -1.   1.  0. |
            |              |
            |  0.   0.  1. |

   then the call

   <b>mtxm_c</b> ( m1, m2, mout );

   produces the matrix

   mout = | -3.   5.  7. |
          |              |
          | -3.   7.  8. |
          |              |
          | -3.   9.  9. |
</PRE>
<h4><a name="Restrictions">Restrictions</a></h4>
<PRE>
   The user is responsible for checking the magnitudes of the
   elements of m1 and m2 so that a floating point overflow does
   not occur.  (In the typical use where m1 and m2 are rotation
   matrices, this not a risk at all.)
</PRE>
<h4><a name="Literature_References">Literature_References</a></h4>
<PRE>
   None.
</PRE>
<h4><a name="Author_and_Institution">Author_and_Institution</a></h4>
<PRE>
   W.M. Owen       (JPL)
   E.D  Wright     (JPL)
</PRE>
<h4><a name="Version">Version</a></h4>
<PRE>
   -CSPICE Version 1.0.0, 16-APR-1999 (EDW)
</PRE>
<h4><a name="Index_Entries">Index_Entries</a></h4>
<PRE>
   matrix_transpose times matrix 3x3_case
</PRE>
<h4>Link to routine mtxm_c source file <a href='../../../src/cspice/mtxm_c.c'>mtxm_c.c</a> </h4>

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   <pre>Wed Jun  9 13:05:26 2010</pre>

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